CN110865652A - Unmanned aerial vehicle control method and device and storage medium - Google Patents

Unmanned aerial vehicle control method and device and storage medium Download PDF

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Publication number
CN110865652A
CN110865652A CN201911127922.8A CN201911127922A CN110865652A CN 110865652 A CN110865652 A CN 110865652A CN 201911127922 A CN201911127922 A CN 201911127922A CN 110865652 A CN110865652 A CN 110865652A
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unmanned aerial
aerial vehicle
sender
beacon frame
unmanned
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虞龙杰
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JRD Communication Shenzhen Ltd
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JRD Communication Shenzhen Ltd
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Priority to CN201911127922.8A priority Critical patent/CN110865652A/en
Priority to US17/617,587 priority patent/US20220248181A1/en
Priority to PCT/CN2019/126132 priority patent/WO2021097979A1/en
Publication of CN110865652A publication Critical patent/CN110865652A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/005—Discovery of network devices, e.g. terminals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/16—Discovering, processing access restriction or access information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/04—Terminal devices adapted for relaying to or from another terminal or user

Abstract

The application discloses a method, a device and a storage medium for controlling an unmanned aerial vehicle, wherein the method comprises the following steps: when a first beacon frame sent by a sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish connection with the sender, wherein the sender is a ground master control device or other relay unmanned aerial vehicles; sending a second beacon frame, and detecting whether a first unmanned machine feeding back a second access request according to the second beacon frame exists or not, wherein the first unmanned machine is an unmanned machine which is not connected with a sender; if a first unmanned machine feeding back a second access request according to a second beacon frame exists, feeding back confirmation information according to the second beacon frame so as to enable the first unmanned machine to establish connection with a sender; after receiving the action instruction sent by the sender, sending the action instruction to the first unmanned machine so that the first unmanned machine executes the action corresponding to the action instruction. Can improve the control scope of ground master control equipment to unmanned aerial vehicle.

Description

Unmanned aerial vehicle control method and device and storage medium
Technical Field
The application relates to the field of communication, in particular to a method and a device for controlling an unmanned aerial vehicle and a storage medium.
Background
In recent years, with the development of science and technology and the improvement of work demands of people, an unmanned aerial vehicle is favored by users because the unmanned aerial vehicle can reach areas where users cannot reach, and in the express industry, people begin to use the unmanned aerial vehicle to automatically deliver goods, so that the labor cost can be saved; in daily life, people take pictures or record videos at high altitude by using unmanned planes, and beautiful scenery is recorded from the perspective of the air.
In the related technology, the communication scheme of the unmanned aerial vehicle is based on a base station and a wireless network (Wi-Fi), and if the communication scheme is based on the base station, the communication range of the unmanned aerial vehicle is not limited by regions as long as the region covered by the base station exists; if the communication range is based on Wi-Fi, the communication range of the unmanned aerial vehicle is within 200 meters of the ground Wi-Fi main control equipment. Therefore, if people use the unmanned aerial vehicle in an area without signal coverage of the base station, the communication range of the unmanned aerial vehicle is only limited by taking the ground Wi-Fi master control device as the center of a circle and taking 200 meters as the radius.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle control method, which can improve the control range of ground main control equipment on an unmanned aerial vehicle.
The embodiment of the application provides an unmanned aerial vehicle control method, which comprises the following steps:
when a first beacon frame sent by a sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish connection with the sender, wherein the sender is ground master control equipment or other relay unmanned aerial vehicles;
sending a second beacon frame, and detecting whether a first unmanned aerial vehicle feeding back a second access request according to the second beacon frame exists, wherein the first unmanned aerial vehicle is an unmanned aerial vehicle which is not connected with the sender;
if a first unmanned machine feeding back a second access request according to the second beacon frame exists, feeding back confirmation information according to the second beacon frame so as to enable the first unmanned machine to establish connection with the sender;
after receiving the action instruction sent by the sender, sending the action instruction to the first unmanned machine so that the first unmanned machine executes the action corresponding to the action instruction.
The embodiment of the application further provides an unmanned aerial vehicle control device, include:
the first feedback unit is used for feeding back a first access request to a sender according to a first beacon frame when the first beacon frame sent by the sender is scanned so as to establish connection with the sender, wherein the sender is ground master control equipment or other relay unmanned aerial vehicles;
a first detection unit, configured to send a second beacon frame, and detect whether a first drone that feeds back a second access request according to the second beacon frame exists, where the first drone is a drone that is not connected to the sender;
a second feedback unit, configured to feed back acknowledgement information according to the second beacon frame if there is a first drone that feeds back a second access request according to the second beacon frame, so that the first drone establishes a connection with the sender;
and the sending unit is used for sending the action instruction to the first unmanned machine after receiving the action instruction sent by the sender so as to enable the first unmanned machine to execute the action corresponding to the action instruction.
The unmanned aerial vehicle control method provided by the embodiment of the application comprises the following steps: when a first beacon frame sent by a sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish connection with the sender, wherein the sender is ground master control equipment or other relay unmanned aerial vehicles; sending a second beacon frame, and detecting whether a first unmanned aerial vehicle feeding back a second access request according to the second beacon frame exists, wherein the first unmanned aerial vehicle is an unmanned aerial vehicle which is not connected with the sender; if a first unmanned machine feeding back a second access request according to the second beacon frame exists, feeding back confirmation information according to the second beacon frame so as to enable the first unmanned machine to establish connection with the sender; after receiving the action instruction sent by the sender, sending the action instruction to the first unmanned machine so that the first unmanned machine executes the action corresponding to the action instruction. Can improve the control scope of ground master control equipment to unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a scenario of an unmanned aerial vehicle control system according to an embodiment of the present application.
Fig. 2 is a first flowchart of an unmanned aerial vehicle control method according to an embodiment of the present application.
Fig. 3 is a second flowchart of an unmanned aerial vehicle control method according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle control device according to an embodiment of the present application.
Fig. 5 is a specific structural block diagram of a terminal according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, an embodiment of the present application provides an unmanned aerial vehicle control system, including: the system comprises a ground main control device 10, a first relay unmanned aerial vehicle 20, and a first group 30 formed by the ground main control device 10 and the first relay unmanned aerial vehicle 20, wherein a plurality of working unmanned aerial vehicles 40 can exist in the first group 30; a second group 60 formed by the first relay drone 20 and the second relay drone 50, and a third group 70 formed by the second relay drone 50 alone, in which second group 60 and third group 70 there may also be a plurality of working drones 40. In fig. 1, the ground main control device 10 is taken as an example of a notebook computer, and various applications required by a user, such as applications with an entertainment function (e.g., a video application, an audio playing application, a game application, and reading software), and applications with a service function (e.g., a map navigation application, a dining application, etc.), may be installed in the ground main control device 10.
Based on the system shown in fig. 1, an unmanned aerial vehicle control method is provided in the embodiment of the present application, and is used for building the unmanned aerial vehicle control system, where the method is applied to a relay unmanned aerial vehicle, specifically refer to fig. 2, and fig. 2 is a first flowchart of the unmanned aerial vehicle control method provided in the embodiment of the present application. The method comprises the following steps:
step 101, when a first beacon frame sent by a sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish a connection with the sender.
Specifically, in the stage of establishing the group, taking the sender as the ground master control device as an example, the ground master control device may release the first beacon frame to find whether the unmanned aerial vehicle capable of being controlled exists in the preset control range, so that the first beacon frame is also a discovery beacon frame for discovering the unmanned aerial vehicle in the preset control range.
After receiving the first beacon frame sent by the sender, it may be detected in advance whether to establish a connection with another sender, and therefore, after scanning the first beacon frame sent by the sender, the method may further include:
detecting whether connection is established with other senders;
and if the connection with other senders is established, ignoring the first beacon frame.
If the connection with other senders is not detected, the connection with the sender is indicated, therefore, a first access request is fed back to the sender according to the first beacon frame, and after the sender receives the first access request, the connection with the sender can be established after the request passes.
Wherein, the sender is not only limited to ground master control equipment, also can be other relay unmanned aerial vehicles. When the sender is a ground master control device, the first group 30 in fig. 1 is established, and when the sender is another relay drone, the second group 60 or the third group 70 in fig. 1 is established.
After the connection with the sender is established, whether a working unmanned aerial vehicle exists or not can be detected in advance, if the working unmanned aerial vehicle exists, the second unmanned aerial vehicle can be controlled to acquire the current spatial position information of the second unmanned aerial vehicle according to a preset time period, and the spatial position information of the second unmanned aerial vehicle is received. When the distance between the second unmanned aerial vehicles is detected to be close or far, the second unmanned aerial vehicles can be controlled to execute corresponding anti-collision or anti-loss means. Therefore, after feeding back a first access request to a sender according to the first beacon frame to establish a connection with the sender, the method may further include:
detecting whether a second unmanned aerial vehicle establishes connection with the sender;
and if the fact that the second unmanned aerial vehicle is connected with the sender is detected, controlling the second unmanned aerial vehicle to acquire the current spatial position information of the second unmanned aerial vehicle according to a preset time period, and sending the acquired spatial position information of the second unmanned aerial vehicle to the relay unmanned aerial vehicle.
Before detecting whether a second unmanned aerial vehicle establishes a connection with the sender, the method further includes:
and receiving a synchronous beacon frame sent by the sender to synchronize with the clock of the sender. Thereby reducing the power consumption of the group.
And 102, sending a second beacon frame, and detecting whether a first unmanned machine feeding back a second access request according to the second beacon frame exists.
Specifically, after the connection with the sender is established, the second beacon frame is automatically sent to find whether a working unmanned aerial vehicle which is not connected with the sender exists in the preset control range, and the detection mode can be to send the second beacon frame and detect whether the working unmanned aerial vehicle feeds back the access request according to the second beacon frame.
The second beacon frame is the same as the second beacon frame in type, is a discovery beacon frame, and is used for discovering the unmanned aerial vehicle which is not connected with the sender within the preset control range.
And 103, if a first unmanned machine feeding back a second access request according to the second beacon frame exists, feeding back confirmation information according to the second beacon frame so as to enable the first unmanned machine to establish connection with the sender.
And after receiving the second access request, establishing connection with the sender after the request passes.
After the first unmanned machine establishes connection with the sender, the first unmanned machine can be controlled to acquire the current spatial position information according to a preset time period, and the spatial position information of the first unmanned machine is received. When the first unmanned machine is detected to be closer or farther away from the first unmanned machine or a plurality of first unmanned machines exist, the first unmanned machine can be controlled to execute corresponding anti-collision or anti-loss means. Therefore, after feeding back the acknowledgement information according to the second beacon frame, the method further includes:
and controlling the first unmanned machine to acquire the current spatial position information of the first unmanned machine according to a preset time period, and sending the acquired spatial position information of the first unmanned machine to the relay unmanned machine.
When the first unmanned aerial vehicle is abnormal, the geographical position information of the first unmanned aerial vehicle can be sent to a sender so as to inform a user which unmanned aerial vehicle has a fault and where the fault landing position is.
After first unmanned aerial vehicle and sender establish to be connected, relay unmanned aerial vehicle is in the overlap region of two groups, consequently can control the unmanned aerial vehicle of two groups (first unmanned aerial vehicle and second unmanned aerial vehicle), consequently, after acquireing first unmanned aerial vehicle's current spatial position information and second unmanned aerial vehicle's current spatial position information simultaneously, can real time monitoring two unmanned aerial vehicles in the group, when detecting that first unmanned aerial vehicle is far away with the distance of second unmanned aerial vehicle, when the easy emergence is lost the antithetical couplet situation, can control first unmanned aerial vehicle and the second unmanned aerial vehicle far away of distance and do the relative motion, consequently, will acquire the spatial position information of first unmanned aerial vehicle send to after relay unmanned aerial vehicle, still include:
and if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle reaches a first preset distance, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to move in opposite directions.
Similarly, when detecting that the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is short, and when a collision situation easily occurs, the first unmanned aerial vehicle and the second unmanned aerial vehicle which are short in distance can be controlled to move away from each other, and therefore, the geographical position information and the height information of the first unmanned aerial vehicle, which are obtained, are sent to the relay unmanned aerial vehicle, and then the relay unmanned aerial vehicle further comprises:
and the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle which move in opposite directions reaches a second preset distance, and then the first unmanned aerial vehicle and the second unmanned aerial vehicle are controlled to move back to back.
The spatial location information may specifically include longitude, latitude, and altitude where the first drone and the second drone are currently located. The longitude, the latitude and the altitude form a three-dimensional space, and if the three-dimensional space is a four-dimensional space, other information may be included in the five-dimensional space, which is not limited herein. The height can be measured by the baroceptor of taking on the unmanned aerial vehicle.
How to determine which unmanned aerial vehicle has the condition can be determined according to information carried on the discovery beacon frame, as shown in table 1 and table 2, table 1 is information carried on the discovery beacon frame provided in the embodiments of the present application. Table 2 is attribute type.
TABLE 1
Figure BDA0002277436480000061
TABLE 2
Figure BDA0002277436480000062
Wherein Category means that the type of the Frame is Public Action Frame (Public Action Frame); ActionField refers to a frame of public action related to a given manufacturer; OUI refers to an organization unique number (organization unique Identifier); OUI Type refers to the Type of OUI; attributes refers to Attributes, including service description Attributes and manufacturer specific Attributes. In the manufacturer-specific Attribute, Attribute ID refers to the number of the manufacturer-specific Attribute; length refers to the sum of the byte lengths of OUI and Body; OUI refers to the manufacturer's number; body refers to manufacturer specific information.
In some embodiments, tables 1 and 2 may also be reduced to the form of table 3.
TABLE 3
Figure BDA0002277436480000063
Wherein, the message ID may include 0x01, which is used for the drone to send its own location information; 0x02, configured to relay the location information lists of all drones broadcasted by the drones; 0x03, used for the ground master control equipment to send instructions to the working unmanned aerial vehicle; 0x04, used for the work unmanned aerial vehicle to send feedback content to the ground master control equipment; and 0x05, which is used for sending an emergency help message after the unmanned aerial vehicle breaks down.
For example, the message content is the spatial location information of the drone, please refer to table 4.
TABLE 4
Figure BDA0002277436480000071
The interface address of the drone can uniquely represent a particular drone, thus enabling real-time sharing of location information for all drones.
And 104, after receiving the action command sent by the sender, sending the action command to the first unmanned machine so that the first unmanned machine executes the action corresponding to the action command.
After the ground main control equipment sends the action instruction, the action instruction can be transmitted one-level downwards, take the unmanned aerial vehicle group established in fig. 1 as an example, after the ground main control equipment sends the action instruction, the working unmanned aerial vehicle 40 and the relay unmanned aerial vehicle 20 in the first group 30 execute the action corresponding to the action instruction, and the relay unmanned aerial vehicle 20 can send the action instruction to all unmanned aerial vehicles in the second group 60, after the relay unmanned aerial vehicle 50 receives the action instruction, the action instruction can be sent to all unmanned aerial vehicles in the third group 70, thereby realizing the extension of the control range of the ground main control equipment.
The unmanned aerial vehicle control method provided by the embodiment of the application comprises the following steps: when a first beacon frame sent by a sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish connection with the sender, wherein the sender is ground master control equipment or other relay unmanned aerial vehicles; sending a second beacon frame, and detecting whether a first unmanned aerial vehicle feeding back a second access request according to the second beacon frame exists, wherein the first unmanned aerial vehicle is an unmanned aerial vehicle which is not connected with the sender; if a first unmanned machine feeding back a second access request according to the second beacon frame exists, feeding back confirmation information according to the second beacon frame so as to enable the first unmanned machine to establish connection with the sender; after receiving the action instruction sent by the sender, sending the action instruction to the first unmanned machine so that the first unmanned machine executes the action corresponding to the action instruction. Can improve the control scope of ground master control equipment to unmanned aerial vehicle.
Referring to fig. 3, fig. 3 is a second flowchart of the method for controlling an unmanned aerial vehicle according to the embodiment of the present application. The method comprises the following steps:
step 201, when a first beacon frame sent by the sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish a connection with the sender.
Specifically, in the stage of establishing the group, taking the sender as the ground master control device as an example, the ground master control device may release the first beacon frame to find whether the unmanned aerial vehicle capable of being controlled exists in the preset control range, so that the first beacon frame is also a discovery beacon frame for discovering the unmanned aerial vehicle in the preset control range.
After receiving the first beacon frame sent by the sender, it may be detected in advance whether to establish a connection with another sender, and therefore, after scanning the first beacon frame sent by the sender, the method may further include:
detecting whether connection is established with other senders;
and if the connection with other senders is established, ignoring the first beacon frame.
If the connection with other senders is not detected, the connection with the sender is indicated, therefore, a first access request is fed back to the sender according to the first beacon frame, and after the sender receives the first access request, the connection with the sender can be established after the request passes.
Step 202, receiving a synchronization beacon frame sent by a sender to synchronize with a clock of the sender.
Specifically, the sender may send a synchronization beacon frame, and the relay drone or the work drone may receive the synchronization beacon frame sent by the sender to synchronize with a clock of the sender. Thereby reducing the power consumption of the group.
Step 203, detecting whether a second unmanned aerial vehicle establishes connection with the sender.
Specifically, after the connection with the sender is established, whether a working unmanned aerial vehicle exists or not can be detected in advance, if the working unmanned aerial vehicle exists, the second unmanned aerial vehicle can be controlled to acquire the current spatial position information of the second unmanned aerial vehicle according to a preset time period, and the spatial position information of the second unmanned aerial vehicle is received. When the distance between the second unmanned aerial vehicles is detected to be close or far, the second unmanned aerial vehicles can be controlled to execute corresponding anti-collision or anti-loss means.
And 204, if the fact that the second unmanned aerial vehicle is connected with the sender is detected, controlling the second unmanned aerial vehicle to acquire the current spatial position information of the second unmanned aerial vehicle according to a preset time period, and sending the acquired spatial position information of the second unmanned aerial vehicle to the relay unmanned aerial vehicle.
Step 205, sending a second beacon frame, and detecting whether a first unmanned machine feeding back a second access request according to the second beacon frame exists.
Specifically, after the connection with the sender is established, the second beacon frame is automatically sent to find whether a working unmanned aerial vehicle which is not connected with the sender exists in the preset control range, and the detection mode can be to send the second beacon frame and detect whether the working unmanned aerial vehicle feeds back the access request according to the second beacon frame.
The second beacon frame is the same as the first beacon frame in type, is a discovery beacon frame, and is used for discovering the unmanned aerial vehicle which is not connected with the sender within the preset control range.
And step 206, if the first unmanned machine feeding back the second access request according to the second beacon frame exists, feeding back confirmation information according to the second beacon frame.
And after receiving the second access request, establishing connection with the sender after the request passes.
And step 207, controlling the first unmanned machine to acquire the current spatial position information of the first unmanned machine according to a preset time period, and sending the acquired spatial position information of the first unmanned machine to the relay unmanned machine.
Specifically, after the first drone machine establishes a connection with the sender, the first drone machine may be controlled to obtain current spatial position information thereof according to a preset time period, and receive the spatial position information of the first drone machine. When the first unmanned machine is detected to be closer or farther away from the first unmanned machine or a plurality of first unmanned machines exist, the first unmanned machine can be controlled to execute corresponding anti-collision or anti-loss means.
And step 208, if the first unmanned machine is abnormal, sending the geographical position information of the first unmanned machine to a sender.
Specifically, when the first unmanned aerial vehicle is abnormal, the geographical position information of the first unmanned aerial vehicle can be sent to the sender so as to inform the user which unmanned aerial vehicle is in fault and where the fault landing position is.
Step 209, if it is detected that the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle reaches a first preset distance, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to move in opposite directions.
After the first unmanned aerial vehicle is connected with the sender, the relay unmanned aerial vehicle is in an overlapping area of the two groups, and therefore the unmanned aerial vehicles (the first unmanned aerial vehicle and the second unmanned aerial vehicle) of the two groups can be controlled.
Step 210, if the distance that the first unmanned aerial vehicle and the second unmanned aerial vehicle move in opposite directions reaches a second preset distance, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to move back to back.
The unmanned aerial vehicle control method provided by the embodiment of the application comprises the following steps: when a first beacon frame sent by a sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish connection with the sender, wherein the sender is ground master control equipment or other relay unmanned aerial vehicles; sending a second beacon frame, and detecting whether a first unmanned aerial vehicle feeding back a second access request according to the second beacon frame exists, wherein the first unmanned aerial vehicle is an unmanned aerial vehicle which is not connected with the sender; if a first unmanned machine feeding back a second access request according to the second beacon frame exists, feeding back confirmation information according to the second beacon frame so as to enable the first unmanned machine to establish connection with the sender; after receiving the action instruction sent by the sender, sending the action instruction to the first unmanned machine so that the first unmanned machine executes the action corresponding to the action instruction. Can improve the control scope of ground master control equipment to unmanned aerial vehicle.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an unmanned aerial vehicle control device according to an embodiment of the present application. The unmanned aerial vehicle controlling means includes: a first feedback unit 31, a first detection unit 32, a second feedback unit 33 and a sending unit 34.
The first feedback unit 31 is configured to, when a first beacon frame sent by a sender is scanned, feed back a first access request to the sender according to the first beacon frame to establish a connection with the sender, where the sender is a ground master control device or another relay unmanned aerial vehicle.
Specifically, in the stage of establishing the group, taking the sender as the ground master control device as an example, the ground master control device may release the first beacon frame to find whether the unmanned aerial vehicle capable of being controlled exists in the preset control range, so that the first beacon frame is also a discovery beacon frame for discovering the unmanned aerial vehicle in the preset control range.
A first detecting unit 32, configured to send a second beacon frame, and detect whether there is a first drone that feeds back a second access request according to the second beacon frame, where the first drone is a drone that is not connected to the sender.
Specifically, after the connection with the sender is established, the second beacon frame is automatically sent to find whether a working unmanned aerial vehicle which is not connected with the sender exists in the preset control range, and the detection mode can be to send the second beacon frame and detect whether the working unmanned aerial vehicle feeds back the access request according to the second beacon frame.
The second beacon frame is the same as the first beacon frame in type, is a discovery beacon frame, and is used for discovering the unmanned aerial vehicle which is not connected with the sender within the preset control range.
A second feedback unit 33, configured to feed back acknowledgement information according to the second beacon frame if there is a first drone that feeds back a second access request according to the second beacon frame, so that the first drone establishes a connection with the sender.
And after receiving the second access request, establishing connection with the sender after the request passes.
And the sending unit 34 is configured to send the action instruction to the first unmanned machine after receiving the action instruction sent by the sender, so that the first unmanned machine executes an action corresponding to the action instruction.
After the ground main control equipment sends the action instruction, the action instruction can be transmitted one-level downwards, take the unmanned aerial vehicle group established in fig. 1 as an example, after the ground main control equipment sends the action instruction, the working unmanned aerial vehicle 40 and the relay unmanned aerial vehicle 20 in the first group 30 execute the action corresponding to the action instruction, and the relay unmanned aerial vehicle 20 can send the action instruction to all unmanned aerial vehicles in the second group 60, after the relay unmanned aerial vehicle 50 receives the action instruction, the action instruction can be sent to all unmanned aerial vehicles in the third group 70, thereby realizing the extension of the control range of the ground main control equipment.
In some embodiments, the drone controlling means may further comprise:
the second detection unit is used for detecting whether a second unmanned aerial vehicle is connected with the sender or not;
and the control subunit is used for controlling the second unmanned aerial vehicle to acquire the current spatial position information of the second unmanned aerial vehicle according to a preset time period and sending the acquired spatial position information of the second unmanned aerial vehicle to the relay unmanned aerial vehicle if the fact that the second unmanned aerial vehicle is connected with the sender is detected.
In some embodiments, the drone controlling means may further comprise:
and the space position information sending unit is used for controlling the first unmanned machine to acquire the current space position information of the first unmanned machine according to a preset time period and sending the acquired space position information of the first unmanned machine to the relay unmanned machine.
In some embodiments, the drone controlling means may further comprise:
the first detection control unit is used for controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to move in opposite directions if the first detection control unit detects that the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle reaches a first preset distance.
In some embodiments, the drone controlling means may further comprise:
and the second detection control unit is used for controlling the first unmanned machine and the second unmanned machine to move back to back if the distance between the first unmanned machine and the second unmanned machine which move in opposite directions reaches a second preset distance.
Based on the above method, the present invention further provides a storage medium having a plurality of instructions stored thereon, wherein the instructions are suitable for being loaded by a processor and executing the drone control method as described above.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Fig. 5 shows a specific structural block diagram of a terminal provided in an embodiment of the present invention, where the terminal may be used to implement the unmanned aerial vehicle control method, the storage medium, and the terminal provided in the foregoing embodiments.
As shown in fig. 5, the terminal 100 may include RF (Radio Frequency) circuitry 310, a memory 320 including one or more computer-readable storage media (only one shown), a sensor 350, audio circuitry 360, a transmission module 370, a processor 380 including one or more processing cores (only one shown), and a power supply 390. Those skilled in the art will appreciate that the terminal 100 configuration shown in fig. 4 is not intended to be limiting of terminal 100 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:
RF circuitry 310 may include various existing circuit elements for performing these functions, such as antennas, radio frequency transceivers, digital signal processors, encryption/decryption chips, memory, and so forth. The RF circuit 310 may communicate with various networks such as the internet, an intranet, a wireless network, or with a second device over a wireless network. The wireless network may comprise a cellular telephone network, a wireless local area network, or a metropolitan area network.
The memory 320 may be configured to store software programs and modules, such as program instructions/modules corresponding to the drone control method, the drone control device, the drone control storage medium, and the terminal in the foregoing embodiments, and the processor 380 executes various functional applications and data processing by running the software programs and modules stored in the memory 320, that is, functions for mutual chip identification are implemented. The memory 320 may include high speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or a second non-volatile solid-state memory. In some examples, memory 320 may be a storage medium as described above.
The terminal 100 may also include at least one sensor 350, such as a light sensor, a motion sensor, and a second sensor. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display panel 341 according to the brightness of ambient light, and a proximity sensor that may turn off the display panel 341 and/or the backlight when the terminal 100 is moved to the ear. As for the second sensor such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which may be further configured in the terminal 100, the detailed description is omitted.
The audio circuit 360, speaker 361, microphone 162 may provide an audio interface between a user and the terminal 100. The audio circuit 360 may transmit the electrical signal converted from the received audio data to the speaker 361, and the audio signal is converted by the speaker 361 and output; on the other hand, the microphone 162 converts the collected sound signal into an electric signal, converts the electric signal into audio data after being received by the audio circuit 360, and then outputs the audio data to the processor 380 for processing, and then to the RF circuit 310 for transmission to another terminal, for example, or outputs the audio data to the memory 320 for further processing. The audio circuit 360 may also include an earbud jack to provide communication of a peripheral headset with the terminal 100.
The terminal 100 may assist the user in e-mail, web browsing, streaming media access, etc. through the transmission module 370, which provides the user with wireless broadband internet access.
The processor 380 is a control center of the terminal 100, connects various parts of the whole drone using various interfaces and lines, and performs various functions of the terminal 100 and processes data by running or executing software programs and/or modules stored in the memory 320 and calling data stored in the memory 320, thereby performing overall monitoring of the drone. Optionally, processor 380 may include one or more processing cores; in some embodiments, processor 380 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 380.
Specifically, the processor 380 includes: an Arithmetic Logic Unit (ALU), an application processor, a Global Positioning System (GPS) and a control and status Bus (Bus) (not shown).
The terminal 100 also includes a power supply 390 (e.g., a battery) for powering the various components, which may be logically coupled to the processor 380 via a power management system in some embodiments to manage power, discharge, and power consumption via the power management system. The power supply 390 may also include any component including one or more of a dc or ac power source, a re-power system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.
Although not shown, the terminal 100 may further include a camera (e.g., a front camera, a rear camera), a bluetooth module, and the like, which will not be described herein.
Specifically, in this embodiment, the terminal 100 further includes a memory 320, and one or more programs, wherein the one or more programs are stored in the memory 320, and the one or more programs configured to be executed by the one or more processors 380 include instructions for:
when a first beacon frame sent by a sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish connection with the sender, wherein the sender is ground master control equipment or other relay unmanned aerial vehicles;
sending a second beacon frame, and detecting whether a first unmanned aerial vehicle feeding back a second access request according to the second beacon frame exists, wherein the first unmanned aerial vehicle is an unmanned aerial vehicle which is not connected with the sender;
if a first unmanned machine feeding back a second access request according to the second beacon frame exists, feeding back confirmation information according to the second beacon frame so as to enable the first unmanned machine to establish connection with the sender;
after receiving the action instruction sent by the sender, sending the action instruction to the first unmanned machine so that the first unmanned machine executes the action corresponding to the action instruction.
In some embodiments, after feeding back a first access request to a sender according to the first beacon frame to establish a connection with the sender, processor 380 may further execute the following instructions:
detecting whether a second unmanned aerial vehicle establishes connection with the sender;
and if the fact that the second unmanned aerial vehicle is connected with the sender is detected, controlling the second unmanned aerial vehicle to acquire the current spatial position information of the second unmanned aerial vehicle according to a preset time period, and sending the acquired spatial position information of the second unmanned aerial vehicle to the relay unmanned aerial vehicle.
In some embodiments, after said feeding back acknowledgement information according to said second beacon frame, processor 380 may further execute instructions to:
and controlling the first unmanned machine to acquire the current spatial position information of the first unmanned machine according to a preset time period, and sending the acquired spatial position information of the first unmanned machine to the relay unmanned machine.
In some embodiments, after sending the acquired spatial location information of the first drone to the relay drone, processor 380 may further execute instructions to:
and if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle reaches a first preset distance, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to move in opposite directions.
In some embodiments, after sending the acquired spatial location information of the first drone to the relay drone, processor 380 may further execute instructions to:
and if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle which move in opposite directions reaches a second preset distance, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to move back to back.
In some embodiments, processor 380 may also execute instructions to:
and if the first unmanned machine is abnormal, sending the geographical position information of the first unmanned machine to the sender.
In some embodiments, the processor 380, prior to detecting whether there is a second drone to establish a connection with the sender, may further execute the instructions to:
and receiving a synchronous beacon frame sent by the sender to synchronize with the clock of the sender.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The method, the device, the storage medium and the terminal for controlling the unmanned aerial vehicle provided by the embodiment of the application are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the technical scheme and the core idea of the application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims (10)

1. The utility model provides an unmanned aerial vehicle control method, is applied to relay unmanned aerial vehicle, its characterized in that includes:
when a first beacon frame sent by a sender is scanned, feeding back a first access request to the sender according to the first beacon frame so as to establish connection with the sender, wherein the sender is ground master control equipment or other relay unmanned aerial vehicles;
sending a second beacon frame, and detecting whether a first unmanned aerial vehicle feeding back a second access request according to the second beacon frame exists, wherein the first unmanned aerial vehicle is an unmanned aerial vehicle which is not connected with the sender;
if a first unmanned machine feeding back a second access request according to the second beacon frame exists, feeding back confirmation information according to the second beacon frame so as to enable the first unmanned machine to establish connection with the sender;
after receiving the action instruction sent by the sender, sending the action instruction to the first unmanned machine so that the first unmanned machine executes the action corresponding to the action instruction.
2. The drone control method of claim 1, further comprising, after feeding back a first access request to a sender according to the first beacon frame to establish a connection with the sender:
detecting whether a second unmanned aerial vehicle establishes connection with the sender;
and if the fact that the second unmanned aerial vehicle is connected with the sender is detected, controlling the second unmanned aerial vehicle to acquire the current spatial position information of the second unmanned aerial vehicle according to a preset time period, and sending the acquired spatial position information of the second unmanned aerial vehicle to the relay unmanned aerial vehicle.
3. The drone controlling method according to claim 2, further comprising, after feeding back acknowledgement information according to the second beacon frame:
and controlling the first unmanned machine to acquire the current spatial position information of the first unmanned machine according to a preset time period, and sending the acquired spatial position information of the first unmanned machine to the relay unmanned machine.
4. The drone control method according to claim 3, further comprising, after the sending the acquired spatial location information of the first drone to the relay drone:
and if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle reaches a first preset distance, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to move in opposite directions.
5. The drone control method according to claim 4, further comprising, after the sending the acquired spatial location information of the first drone to the relay drone:
and if the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle which move in opposite directions reaches a second preset distance, controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to move back to back.
6. The drone controlling method of claim 3, further comprising:
and if the first unmanned machine is abnormal, sending the geographical position information of the first unmanned machine to the sender.
7. The drone controlling method of claim 2, wherein prior to detecting whether there is a second drone to establish a connection with the sender, further comprising:
and receiving a synchronous beacon frame sent by the sender to synchronize with the clock of the sender.
8. An unmanned aerial vehicle controlling means, its characterized in that includes:
the first feedback unit is used for feeding back a first access request to a sender according to a first beacon frame when the first beacon frame sent by the sender is scanned so as to establish connection with the sender, wherein the sender is ground master control equipment or other relay unmanned aerial vehicles;
a first detection unit, configured to send a second beacon frame, and detect whether a first drone that feeds back a second access request according to the second beacon frame exists, where the first drone is a drone that is not connected to the sender;
a second feedback unit, configured to feed back acknowledgement information according to the second beacon frame if there is a first drone that feeds back a second access request according to the second beacon frame, so that the first drone establishes a connection with the sender;
and the sending unit is used for sending the action instruction to the first unmanned machine after receiving the action instruction sent by the sender so as to enable the first unmanned machine to execute the action corresponding to the action instruction.
9. The drone controlling device of claim 8, further comprising:
the second detection unit is used for detecting whether a second unmanned aerial vehicle is connected with the sender or not;
and the control unit is used for controlling the second unmanned aerial vehicle to acquire the current spatial position information of the second unmanned aerial vehicle according to a preset time period and sending the acquired spatial position information of the second unmanned aerial vehicle to the relay unmanned aerial vehicle if the fact that the second unmanned aerial vehicle is connected with the sender is detected.
10. A storage medium having stored thereon a computer program which, when run on a computer, causes the computer to execute the drone controlling method of any one of claims 1 to 7.
CN201911127922.8A 2019-11-18 2019-11-18 Unmanned aerial vehicle control method and device and storage medium Pending CN110865652A (en)

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